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[doc] Correct some doxygen comments

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This commit is contained in:
Freek van Tienen
2015-04-09 20:46:19 +02:00
parent c03fd983a4
commit d595b8e4d7
14 changed files with 164 additions and 164 deletions
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sw/airborne/arch/stm32/mcu_periph/adc_arch.c
+9 -9
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@@ -231,39 +231,39 @@ void adc_init(void)
/* Init GPIO ports for ADC operation
*/
#if USE_ADC_1
PRINT_CONFIG_MSG("Info: Using ADC_1");
PRINT_CONFIG_MSG("Info: Using ADC_1")
gpio_setup_pin_analog(ADC_1_GPIO_PORT, ADC_1_GPIO_PIN);
#endif
#if USE_ADC_2
PRINT_CONFIG_MSG("Info: Using ADC_2");
PRINT_CONFIG_MSG("Info: Using ADC_2")
gpio_setup_pin_analog(ADC_2_GPIO_PORT, ADC_2_GPIO_PIN);
#endif
#if USE_ADC_3
PRINT_CONFIG_MSG("Info: Using ADC_3");
PRINT_CONFIG_MSG("Info: Using ADC_3")
gpio_setup_pin_analog(ADC_3_GPIO_PORT, ADC_3_GPIO_PIN);
#endif
#if USE_ADC_4
PRINT_CONFIG_MSG("Info: Using ADC_4");
PRINT_CONFIG_MSG("Info: Using ADC_4")
gpio_setup_pin_analog(ADC_4_GPIO_PORT, ADC_4_GPIO_PIN);
#endif
#if USE_ADC_5
PRINT_CONFIG_MSG("Info: Using ADC_5");
PRINT_CONFIG_MSG("Info: Using ADC_5")
gpio_setup_pin_analog(ADC_5_GPIO_PORT, ADC_5_GPIO_PIN);
#endif
#if USE_ADC_6
PRINT_CONFIG_MSG("Info: Using ADC_6");
PRINT_CONFIG_MSG("Info: Using ADC_6")
gpio_setup_pin_analog(ADC_6_GPIO_PORT, ADC_6_GPIO_PIN);
#endif
#if USE_ADC_7
PRINT_CONFIG_MSG("Info: Using ADC_7");
PRINT_CONFIG_MSG("Info: Using ADC_7")
gpio_setup_pin_analog(ADC_7_GPIO_PORT, ADC_7_GPIO_PIN);
#endif
#if USE_ADC_8
PRINT_CONFIG_MSG("Info: Using ADC_8");
PRINT_CONFIG_MSG("Info: Using ADC_8")
gpio_setup_pin_analog(ADC_8_GPIO_PORT, ADC_8_GPIO_PIN);
#endif
#if USE_ADC_9
PRINT_CONFIG_MSG("Info: Using ADC_9");
PRINT_CONFIG_MSG("Info: Using ADC_9")
gpio_setup_pin_analog(ADC_9_GPIO_PORT, ADC_9_GPIO_PIN);
#endif
sw/airborne/boards/ardrone/navdata.h
+8 -8
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@@ -109,8 +109,8 @@ struct bmp180_calib_t {
/* Main navdata structure */
struct navdata_t {
bool_t is_initialized; //< Check if the navdata board is initialized
int fd; //< The navdata file pointer
bool_t is_initialized; ///< Check if the navdata board is initialized
int fd; ///< The navdata file pointer
uint32_t totalBytesRead;
uint32_t packetsRead;
@@ -118,13 +118,13 @@ struct navdata_t {
uint32_t lost_imu_frames;
uint16_t last_packet_number;
struct navdata_measure_t measure; //< Main navdata packet receieved from navboard
struct bmp180_calib_t bmp180_calib; //< BMP180 calibration receieved from navboard
struct navdata_measure_t measure; ///< Main navdata packet receieved from navboard
struct bmp180_calib_t bmp180_calib; ///< BMP180 calibration receieved from navboard
bool_t baro_calibrated; //< Whenever the baro is calibrated
bool_t imu_available; //< Whenever the imu is available
bool_t baro_available; //< Whenever the baro is available
bool_t imu_lost; //< Whenever the imu is lost
bool_t baro_calibrated; ///< Whenever the baro is calibrated
bool_t imu_available; ///< Whenever the imu is available
bool_t baro_available; ///< Whenever the baro is available
bool_t imu_lost; ///< Whenever the imu is lost
};
extern struct navdata_t navdata;
sw/airborne/mcu_periph/udp.c
+12 -12
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@@ -30,26 +30,26 @@
/* Print the configurations */
#if USE_UDP0
struct udp_periph udp0;
PRINT_CONFIG_VAR(UDP0_HOST);
PRINT_CONFIG_VAR(UDP0_PORT_OUT);
PRINT_CONFIG_VAR(UDP0_PORT_IN);
PRINT_CONFIG_VAR(UDP0_BROADCAST);
PRINT_CONFIG_VAR(UDP0_HOST)
PRINT_CONFIG_VAR(UDP0_PORT_OUT)
PRINT_CONFIG_VAR(UDP0_PORT_IN)
PRINT_CONFIG_VAR(UDP0_BROADCAST)
#endif // USE_UDP0
#if USE_UDP1
struct udp_periph udp1;
PRINT_CONFIG_VAR(UDP1_HOST);
PRINT_CONFIG_VAR(UDP1_PORT_OUT);
PRINT_CONFIG_VAR(UDP1_PORT_IN);
PRINT_CONFIG_VAR(UDP1_BROADCAST);
PRINT_CONFIG_VAR(UDP1_HOST)
PRINT_CONFIG_VAR(UDP1_PORT_OUT)
PRINT_CONFIG_VAR(UDP1_PORT_IN)
PRINT_CONFIG_VAR(UDP1_BROADCAST)
#endif // USE_UDP1
#if USE_UDP2
struct udp_periph udp2;
PRINT_CONFIG_VAR(UDP2_HOST);
PRINT_CONFIG_VAR(UDP2_PORT_OUT);
PRINT_CONFIG_VAR(UDP2_PORT_IN);
PRINT_CONFIG_VAR(UDP2_BROADCAST);
PRINT_CONFIG_VAR(UDP2_HOST)
PRINT_CONFIG_VAR(UDP2_PORT_OUT)
PRINT_CONFIG_VAR(UDP2_PORT_IN)
PRINT_CONFIG_VAR(UDP2_BROADCAST)
#endif // USE_UDP2
/**
sw/airborne/modules/computer_vision/lib/v4l/v4l2.h
+13 -13
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@@ -35,26 +35,26 @@
#include "std.h"
#include "lib/vision/image.h"
#define V4L2_IMG_NONE 255 //< There currently no image available
#define V4L2_IMG_NONE 255 ///< There currently no image available
/* V4L2 memory mapped image buffer */
struct v4l2_img_buf {
size_t length; //< The size of the buffer
struct timeval timestamp; //< The time value of the image
void *buf; //< Pointer to the memory mapped buffer
size_t length; ///< The size of the buffer
struct timeval timestamp; ///< The time value of the image
void *buf; ///< Pointer to the memory mapped buffer
};
/* V4L2 device */
struct v4l2_device {
char *name; //< The name of the device
int fd; //< The file pointer to the device
pthread_t thread; //< The thread that handles the images
uint16_t w; //< The width of the image
uint16_t h; //< The height of the image
uint8_t buffers_cnt; //< The number of image buffers
volatile uint8_t buffers_deq_idx; //< The current dequeued index
pthread_mutex_t mutex; //< Mutex lock for enqueue/dequeue of buffers (change the deq_idx)
struct v4l2_img_buf *buffers; //< The memory mapped image buffers
char *name; ///< The name of the device
int fd; ///< The file pointer to the device
pthread_t thread; ///< The thread that handles the images
uint16_t w; ///< The width of the image
uint16_t h; ///< The height of the image
uint8_t buffers_cnt; ///< The number of image buffers
volatile uint8_t buffers_deq_idx; ///< The current dequeued index
pthread_mutex_t mutex; ///< Mutex lock for enqueue/dequeue of buffers (change the deq_idx)
struct v4l2_img_buf *buffers; ///< The memory mapped image buffers
};
/* External functions */
sw/airborne/modules/computer_vision/lib/vision/image.h
+16 -16
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@@ -32,35 +32,35 @@
/* The different type of images we currently support */
enum image_type {
IMAGE_YUV422, //< UYVY format (uint16 per pixel)
IMAGE_GRAYSCALE, //< Grayscale image with only the Y part (uint8 per pixel)
IMAGE_JPEG, //< An JPEG encoded image (not per pixel encoded)
IMAGE_GRADIENT //< An image gradient (int16 per pixel)
IMAGE_YUV422, ///< UYVY format (uint16 per pixel)
IMAGE_GRAYSCALE, ///< Grayscale image with only the Y part (uint8 per pixel)
IMAGE_JPEG, ///< An JPEG encoded image (not per pixel encoded)
IMAGE_GRADIENT ///< An image gradient (int16 per pixel)
};
/* Main image structure */
struct image_t {
enum image_type type; //< The image type
uint16_t w; //< Image width
uint16_t h; //< Image height
struct timeval ts; //< The timestamp of creation
enum image_type type; ///< The image type
uint16_t w; ///< Image width
uint16_t h; ///< Image height
struct timeval ts; ///< The timestamp of creation
uint8_t buf_idx; //< Buffer index for V4L2 freeing
uint32_t buf_size; //< The buffer size
void *buf; //< Image buffer (depending on the image_type)
uint8_t buf_idx; ///< Buffer index for V4L2 freeing
uint32_t buf_size; ///< The buffer size
void *buf; ///< Image buffer (depending on the image_type)
};
/* Image point structure */
struct point_t {
uint16_t x; //< The x coordinate of the point
uint16_t y; //< The y coordinate of the point
uint16_t x; ///< The x coordinate of the point
uint16_t y; ///< The y coordinate of the point
};
/* Vector structure for point differences */
struct flow_t {
struct point_t pos; //< The original position the flow comes from
int16_t flow_x; //< The x direction flow in subpixels
int16_t flow_y; //< The y direction flow in subpixels
struct point_t pos; ///< The original position the flow comes from
int16_t flow_x; ///< The x direction flow in subpixels
int16_t flow_y; ///< The y direction flow in subpixels
};
/* Usefull image functions */
sw/airborne/modules/computer_vision/opticflow/inter_thread_data.h
+12 -12
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@@ -31,24 +31,24 @@
/* The result calculated from the opticflow */
struct opticflow_result_t {
float fps; //< Frames per second of the optical flow calculation
uint16_t corner_cnt; //< The amount of coners found by FAST9
uint16_t tracked_cnt; //< The amount of tracked corners
float fps; ///< Frames per second of the optical flow calculation
uint16_t corner_cnt; ///< The amount of coners found by FAST9
uint16_t tracked_cnt; ///< The amount of tracked corners
int16_t flow_x; //< Flow in x direction from the camera (in subpixels)
int16_t flow_y; //< Flow in y direction from the camera (in subpixels)
int16_t flow_der_x; //< The derotated flow calculation in the x direction (in subpixels)
int16_t flow_der_y; //< The derotated flow calculation in the y direction (in subpixels)
int16_t flow_x; ///< Flow in x direction from the camera (in subpixels)
int16_t flow_y; ///< Flow in y direction from the camera (in subpixels)
int16_t flow_der_x; ///< The derotated flow calculation in the x direction (in subpixels)
int16_t flow_der_y; ///< The derotated flow calculation in the y direction (in subpixels)
float vel_x; //< The velocity in the x direction
float vel_y; //< The velocity in the y direction
float vel_x; ///< The velocity in the x direction
float vel_y; ///< The velocity in the y direction
};
/* The state of the drone when it took an image */
struct opticflow_state_t {
float phi; //< roll [rad]
float theta; //< pitch [rad]
float agl; //< height above ground [m]
float phi; ///< roll [rad]
float theta; ///< pitch [rad]
float agl; ///< height above ground [m]
};
#endif
sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.c
+12 -12
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@@ -44,63 +44,63 @@
#ifndef OPTICFLOW_FOV_W
#define OPTICFLOW_FOV_W 0.89360857702
#endif
PRINT_CONFIG_VAR(OPTICFLOW_FOV_W);
PRINT_CONFIG_VAR(OPTICFLOW_FOV_W)
#ifndef OPTICFLOW_FOV_H
#define OPTICFLOW_FOV_H 0.67020643276
#endif
PRINT_CONFIG_VAR(OPTICFLOW_FOV_H);
PRINT_CONFIG_VAR(OPTICFLOW_FOV_H)
#ifndef OPTICFLOW_FX
#define OPTICFLOW_FX 343.1211
#endif
PRINT_CONFIG_VAR(OPTICFLOW_FX);
PRINT_CONFIG_VAR(OPTICFLOW_FX)
#ifndef OPTICFLOW_FY
#define OPTICFLOW_FY 348.5053
#endif
PRINT_CONFIG_VAR(OPTICFLOW_FY);
PRINT_CONFIG_VAR(OPTICFLOW_FY)
/* Set the default values */
#ifndef OPTICFLOW_MAX_TRACK_CORNERS
#define OPTICFLOW_MAX_TRACK_CORNERS 25
#endif
PRINT_CONFIG_VAR(OPTICFLOW_MAX_TRACK_CORNERS);
PRINT_CONFIG_VAR(OPTICFLOW_MAX_TRACK_CORNERS)
#ifndef OPTICFLOW_WINDOW_SIZE
#define OPTICFLOW_WINDOW_SIZE 10
#endif
PRINT_CONFIG_VAR(OPTICFLOW_WINDOW_SIZE);
PRINT_CONFIG_VAR(OPTICFLOW_WINDOW_SIZE)
#ifndef OPTICFLOW_SUBPIXEL_FACTOR
#define OPTICFLOW_SUBPIXEL_FACTOR 10
#endif
PRINT_CONFIG_VAR(OPTICFLOW_SUBPIXEL_FACTOR);
PRINT_CONFIG_VAR(OPTICFLOW_SUBPIXEL_FACTOR)
#ifndef OPTICFLOW_MAX_ITERATIONS
#define OPTICFLOW_MAX_ITERATIONS 10
#endif
PRINT_CONFIG_VAR(OPTICFLOW_MAX_ITERATIONS);
PRINT_CONFIG_VAR(OPTICFLOW_MAX_ITERATIONS)
#ifndef OPTICFLOW_THRESHOLD_VEC
#define OPTICFLOW_THRESHOLD_VEC 2
#endif
PRINT_CONFIG_VAR(OPTICFLOW_THRESHOLD_VEC);
PRINT_CONFIG_VAR(OPTICFLOW_THRESHOLD_VEC)
#ifndef OPTICFLOW_FAST9_ADAPTIVE
#define OPTICFLOW_FAST9_ADAPTIVE TRUE
#endif
PRINT_CONFIG_VAR(OPTICFLOW_FAST9_ADAPTIVE);
PRINT_CONFIG_VAR(OPTICFLOW_FAST9_ADAPTIVE)
#ifndef OPTICFLOW_FAST9_THRESHOLD
#define OPTICFLOW_FAST9_THRESHOLD 20
#endif
PRINT_CONFIG_VAR(OPTICFLOW_FAST9_THRESHOLD);
PRINT_CONFIG_VAR(OPTICFLOW_FAST9_THRESHOLD)
#ifndef OPTICFLOW_FAST9_MIN_DISTANCE
#define OPTICFLOW_FAST9_MIN_DISTANCE 10
#endif
PRINT_CONFIG_VAR(OPTICFLOW_FAST9_MIN_DISTANCE);
PRINT_CONFIG_VAR(OPTICFLOW_FAST9_MIN_DISTANCE)
/* Functions only used here */
static uint32_t timeval_diff(struct timeval *starttime, struct timeval *finishtime);
sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.h
+14 -14
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@@ -35,22 +35,22 @@
#include "lib/v4l/v4l2.h"
struct opticflow_t {
bool_t got_first_img; //< If we got a image to work with
float prev_phi; //< Phi from the previous image frame
float prev_theta; //< Theta from the previous image frame
struct image_t img_gray; //< Current gray image frame
struct image_t prev_img_gray; //< Previous gray image frame
struct timeval prev_timestamp; //< Timestamp of the previous frame, used for FPS calculation
bool_t got_first_img; ///< If we got a image to work with
float prev_phi; ///< Phi from the previous image frame
float prev_theta; ///< Theta from the previous image frame
struct image_t img_gray; ///< Current gray image frame
struct image_t prev_img_gray; ///< Previous gray image frame
struct timeval prev_timestamp; ///< Timestamp of the previous frame, used for FPS calculation
uint8_t max_track_corners; //< Maximum amount of corners Lucas Kanade should track
uint16_t window_size; //< Window size of the Lucas Kanade calculation (needs to be even)
uint8_t subpixel_factor; //< The amount of subpixels per pixel
uint8_t max_iterations; //< The maximum amount of iterations the Lucas Kanade algorithm should do
uint8_t threshold_vec; //< The threshold in x, y subpixels which the algorithm should stop
uint8_t max_track_corners; ///< Maximum amount of corners Lucas Kanade should track
uint16_t window_size; ///< Window size of the Lucas Kanade calculation (needs to be even)
uint8_t subpixel_factor; ///< The amount of subpixels per pixel
uint8_t max_iterations; ///< The maximum amount of iterations the Lucas Kanade algorithm should do
uint8_t threshold_vec; ///< The threshold in x, y subpixels which the algorithm should stop
bool_t fast9_adaptive; //< Whether the FAST9 threshold should be adaptive
uint8_t fast9_threshold; //< FAST9 corner detection threshold
uint16_t fast9_min_distance; //< Minimum distance in pixels between corners
bool_t fast9_adaptive; ///< Whether the FAST9 threshold should be adaptive
uint8_t fast9_threshold; ///< FAST9 corner detection threshold
uint16_t fast9_min_distance; ///< Minimum distance in pixels between corners
};
sw/airborne/modules/computer_vision/opticflow/stabilization_opticflow.c
+6 -6
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@@ -41,32 +41,32 @@
#ifndef VISION_PHI_PGAIN
#define VISION_PHI_PGAIN 400
#endif
PRINT_CONFIG_VAR(VISION_PHI_PGAIN);
PRINT_CONFIG_VAR(VISION_PHI_PGAIN)
#ifndef VISION_PHI_IGAIN
#define VISION_PHI_IGAIN 20
#endif
PRINT_CONFIG_VAR(VISION_PHI_IGAIN);
PRINT_CONFIG_VAR(VISION_PHI_IGAIN)
#ifndef VISION_THETA_PGAIN
#define VISION_THETA_PGAIN 400
#endif
PRINT_CONFIG_VAR(VISION_THETA_PGAIN);
PRINT_CONFIG_VAR(VISION_THETA_PGAIN)
#ifndef VISION_THETA_IGAIN
#define VISION_THETA_IGAIN 20
#endif
PRINT_CONFIG_VAR(VISION_THETA_IGAIN);
PRINT_CONFIG_VAR(VISION_THETA_IGAIN)
#ifndef VISION_DESIRED_VX
#define VISION_DESIRED_VX 0
#endif
PRINT_CONFIG_VAR(VISION_DESIRED_VX);
PRINT_CONFIG_VAR(VISION_DESIRED_VX)
#ifndef VISION_DESIRED_VY
#define VISION_DESIRED_VY 0
#endif
PRINT_CONFIG_VAR(VISION_DESIRED_VY);
PRINT_CONFIG_VAR(VISION_DESIRED_VY)
/* Check the control gains */
#if (VISION_PHI_PGAIN < 0) || \
sw/airborne/modules/computer_vision/opticflow/stabilization_opticflow.h
+9 -9
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@@ -37,16 +37,16 @@
/* The opticflow stabilization */
struct opticflow_stab_t {
int32_t phi_pgain; //< The roll P gain on the err_vx
int32_t phi_igain; //< The roll I gain on the err_vx_int
int32_t theta_pgain; //< The pitch P gain on the err_vy
int32_t theta_igain; //< The pitch I gain on the err_vy_int
float desired_vx; //< The desired velocity in the x direction (cm/s)
float desired_vy; //< The desired velocity in the y direction (cm/s)
int32_t phi_pgain; ///< The roll P gain on the err_vx
int32_t phi_igain; ///< The roll I gain on the err_vx_int
int32_t theta_pgain; ///< The pitch P gain on the err_vy
int32_t theta_igain; ///< The pitch I gain on the err_vy_int
float desired_vx; ///< The desired velocity in the x direction (cm/s)
float desired_vy; ///< The desired velocity in the y direction (cm/s)
float err_vx_int; //< The integrated velocity error in x direction (m/s)
float err_vy_int; //< The integrated velocity error in y direction (m/s)
struct Int32Eulers cmd; //< The commands that are send to the hover loop
float err_vx_int; ///< The integrated velocity error in x direction (m/s)
float err_vy_int; ///< The integrated velocity error in y direction (m/s)
struct Int32Eulers cmd; ///< The commands that are send to the hover loop
};
extern struct opticflow_stab_t opticflow_stab;
sw/airborne/modules/computer_vision/opticflow_module.c
+21 -21
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@@ -37,45 +37,45 @@
#include "lib/encoding/jpeg.h"
#include "lib/encoding/rtp.h"
/* default sonar/agl to use in opticflow visual_estimator */
/* Default sonar/agl to use in opticflow visual_estimator */
#ifndef OPTICFLOW_AGL_ID
#define OPTICFLOW_AGL_ID ABI_BROADCAST
#define OPTICFLOW_AGL_ID ABI_BROADCAST ///< Default sonar/agl to use in opticflow visual_estimator
#endif
PRINT_CONFIG_VAR(OPTICFLOW_AGL_ID);
PRINT_CONFIG_VAR(OPTICFLOW_AGL_ID)
/* The video device */
#ifndef OPTICFLOW_DEVICE
#define OPTICFLOW_DEVICE /dev/video2
#define OPTICFLOW_DEVICE /dev/video2 ///< The video device
#endif
PRINT_CONFIG_VAR(OPTICFLOW_DEVICE);
PRINT_CONFIG_VAR(OPTICFLOW_DEVICE)
/* The video device size (width, height) */
#ifndef OPTICFLOW_DEVICE_SIZE
#define OPTICFLOW_DEVICE_SIZE 320,240
#define OPTICFLOW_DEVICE_SIZE 320,240 ///< The video device size (width, height)
#endif
#define __SIZE_HELPER(x, y) #x", "#y
#define _SIZE_HELPER(x) __SIZE_HELPER(x)
PRINT_CONFIG_MSG("OPTICFLOW_DEVICE_SIZE = " _SIZE_HELPER(OPTICFLOW_DEVICE_SIZE));
PRINT_CONFIG_MSG("OPTICFLOW_DEVICE_SIZE = " _SIZE_HELPER(OPTICFLOW_DEVICE_SIZE))
/* The video device buffers (the amount of V4L2 buffers) */
#ifndef OPTICFLOW_DEVICE_BUFFERS
#define OPTICFLOW_DEVICE_BUFFERS 15
#define OPTICFLOW_DEVICE_BUFFERS 15 ///< The video device buffers (the amount of V4L2 buffers)
#endif
PRINT_CONFIG_VAR(VIEWVIDEO_DEVICE_BUFFERS);
PRINT_CONFIG_VAR(VIEWVIDEO_DEVICE_BUFFERS)
/* The main opticflow variables */
struct opticflow_t opticflow; //< Opticflow calculations
static struct opticflow_result_t opticflow_result; //< The opticflow result
static struct opticflow_state_t opticflow_state; //< State of the drone to communicate with the opticflow
static struct v4l2_device *opticflow_dev; //< The opticflow camera V4L2 device
static abi_event opticflow_agl_ev; //< The altitude ABI event
static pthread_t opticflow_calc_thread; //< The optical flow calculation thread
static bool_t opticflow_got_result; //< When we have an optical flow calculation
static pthread_mutex_t opticflow_mutex; //< Mutex lock fo thread safety
struct opticflow_t opticflow; ///< Opticflow calculations
static struct opticflow_result_t opticflow_result; ///< The opticflow result
static struct opticflow_state_t opticflow_state; ///< State of the drone to communicate with the opticflow
static struct v4l2_device *opticflow_dev; ///< The opticflow camera V4L2 device
static abi_event opticflow_agl_ev; ///< The altitude ABI event
static pthread_t opticflow_calc_thread; ///< The optical flow calculation thread
static bool_t opticflow_got_result; ///< When we have an optical flow calculation
static pthread_mutex_t opticflow_mutex; ///< Mutex lock fo thread safety
/* Static functions */
static void *opticflow_module_calc(void *data); //< The main optical flow calculation thread
static void opticflow_agl_cb(uint8_t sender_id, float distance); //< Callback function of the ground altitude
static void *opticflow_module_calc(void *data); ///< The main optical flow calculation thread
static void opticflow_agl_cb(uint8_t sender_id, float distance); ///< Callback function of the ground altitude
#if PERIODIC_TELEMETRY
#include "subsystems/datalink/telemetry.h"
@@ -116,8 +116,8 @@ void opticflow_module_init(void)
opticflow_got_result = FALSE;
#ifdef OPTICFLOW_SUBDEV
PRINT_CONFIG_MSG("[opticflow_module] Configuring a subdevice!");
PRINT_CONFIG_VAR(OPTICFLOW_SUBDEV);
PRINT_CONFIG_MSG("[opticflow_module] Configuring a subdevice!")
PRINT_CONFIG_VAR(OPTICFLOW_SUBDEV)
/* Initialize the V4L2 subdevice (TODO: fix hardcoded path, which and code) */
if (!v4l2_init_subdev(STRINGIFY(OPTICFLOW_SUBDEV), 0, 1, V4L2_MBUS_FMT_UYVY8_2X8, OPTICFLOW_DEVICE_SIZE)) {
sw/airborne/modules/computer_vision/viewvideo.c
+15 -15
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@@ -53,7 +53,7 @@
#ifndef VIEWVIDEO_DEVICE
#define VIEWVIDEO_DEVICE /dev/video1
#endif
PRINT_CONFIG_VAR(VIEWVIDEO_DEVICE);
PRINT_CONFIG_VAR(VIEWVIDEO_DEVICE)
// The video device size (width, height)
#ifndef VIEWVIDEO_DEVICE_SIZE
@@ -61,58 +61,58 @@ PRINT_CONFIG_VAR(VIEWVIDEO_DEVICE);
#endif
#define __SIZE_HELPER(x, y) #x", "#y
#define _SIZE_HELPER(x) __SIZE_HELPER(x)
PRINT_CONFIG_MSG("VIEWVIDEO_DEVICE_SIZE = " _SIZE_HELPER(VIEWVIDEO_DEVICE_SIZE));
PRINT_CONFIG_MSG("VIEWVIDEO_DEVICE_SIZE = " _SIZE_HELPER(VIEWVIDEO_DEVICE_SIZE))
// The video device buffers (the amount of V4L2 buffers)
#ifndef VIEWVIDEO_DEVICE_BUFFERS
#define VIEWVIDEO_DEVICE_BUFFERS 10
#endif
PRINT_CONFIG_VAR(VIEWVIDEO_DEVICE_BUFFERS);
PRINT_CONFIG_VAR(VIEWVIDEO_DEVICE_BUFFERS)
// Downsize factor for video stream
#ifndef VIEWVIDEO_DOWNSIZE_FACTOR
#define VIEWVIDEO_DOWNSIZE_FACTOR 4
#endif
PRINT_CONFIG_VAR(VIEWVIDEO_DOWNSIZE_FACTOR);
PRINT_CONFIG_VAR(VIEWVIDEO_DOWNSIZE_FACTOR)
// From 0 to 99 (99=high)
#ifndef VIEWVIDEO_QUALITY_FACTOR
#define VIEWVIDEO_QUALITY_FACTOR 50
#endif
PRINT_CONFIG_VAR(VIEWVIDEO_QUALITY_FACTOR);
PRINT_CONFIG_VAR(VIEWVIDEO_QUALITY_FACTOR)
// RTP time increment at 90kHz (default: 0 for automatic)
#ifndef VIEWVIDEO_RTP_TIME_INC
#define VIEWVIDEO_RTP_TIME_INC 0
#endif
PRINT_CONFIG_VAR(VIEWVIDEO_RTP_TIME_INC);
PRINT_CONFIG_VAR(VIEWVIDEO_RTP_TIME_INC)
// Frames Per Seconds
#ifndef VIEWVIDEO_FPS
#define VIEWVIDEO_FPS 4
#endif
PRINT_CONFIG_VAR(VIEWVIDEO_FPS);
PRINT_CONFIG_VAR(VIEWVIDEO_FPS)
// The place where the shots are saved (without slash on the end)
#ifndef VIEWVIDEO_SHOT_PATH
#define VIEWVIDEO_SHOT_PATH "/data/video/images"
#endif
PRINT_CONFIG_VAR(VIEWVIDEO_SHOT_PATH);
PRINT_CONFIG_VAR(VIEWVIDEO_SHOT_PATH)
// Check if we are using netcat instead of RTP/UDP
#ifndef VIEWVIDEO_USE_NETCAT
#define VIEWVIDEO_USE_NETCAT FALSE
#endif
#if VIEWVIDEO_USE_NETCAT
PRINT_CONFIG_MSG("[viewvideo] Using netcat.");
PRINT_CONFIG_MSG("[viewvideo] Using netcat.")
#else
PRINT_CONFIG_MSG("[viewvideo] Using RTP/UDP stream.");
PRINT_CONFIG_VAR(VIEWVIDEO_DEV);
PRINT_CONFIG_MSG("[viewvideo] Using RTP/UDP stream.")
PRINT_CONFIG_VAR(VIEWVIDEO_DEV)
#endif
/* These are defined with configure */
PRINT_CONFIG_VAR(VIEWVIDEO_HOST);
PRINT_CONFIG_VAR(VIEWVIDEO_PORT_OUT);
PRINT_CONFIG_VAR(VIEWVIDEO_HOST)
PRINT_CONFIG_VAR(VIEWVIDEO_PORT_OUT)
// Main thread
static void *viewvideo_thread(void *data);
@@ -274,8 +274,8 @@ static void *viewvideo_thread(void *data __attribute__((unused)))
void viewvideo_init(void)
{
#ifdef VIEWVIDEO_SUBDEV
PRINT_CONFIG_MSG("[viewvideo] Configuring a subdevice!");
PRINT_CONFIG_VAR(VIEWVIDEO_SUBDEV);
PRINT_CONFIG_MSG("[viewvideo] Configuring a subdevice!")
PRINT_CONFIG_VAR(VIEWVIDEO_SUBDEV)
// Initialize the V4L2 subdevice (TODO: fix hardcoded path, which and code)
if (!v4l2_init_subdev(STRINGIFY(VIEWVIDEO_SUBDEV), 0, 1, V4L2_MBUS_FMT_UYVY8_2X8, VIEWVIDEO_DEVICE_SIZE)) {
sw/airborne/modules/computer_vision/viewvideo.h
+8 -8
View File
@@ -36,20 +36,20 @@
// Main viewvideo structure
struct viewvideo_t {
volatile bool_t is_streaming; //< When the device is streaming
struct v4l2_device *dev; //< The V4L2 device that is used for the video stream
uint8_t downsize_factor; //< Downsize factor during the stream
uint8_t quality_factor; //< Quality factor during the stream
uint8_t fps; //< The amount of frames per second
volatile bool_t is_streaming; ///< When the device is streaming
struct v4l2_device *dev; ///< The V4L2 device that is used for the video stream
uint8_t downsize_factor; ///< Downsize factor during the stream
uint8_t quality_factor; ///< Quality factor during the stream
uint8_t fps; ///< The amount of frames per second
volatile bool_t take_shot; //< Wether to take an image
uint16_t shot_number; //< The last shot number
volatile bool_t take_shot; ///< Wether to take an image
uint16_t shot_number; ///< The last shot number
};
extern struct viewvideo_t viewvideo;
// Module functions
extern void viewvideo_init(void);
extern void viewvideo_periodic(void); //< A dummy for now
extern void viewvideo_periodic(void); ///< A dummy for now
extern void viewvideo_start(void);
extern void viewvideo_stop(void);
extern void viewvideo_take_shot(bool_t take);
sw/airborne/subsystems/datalink/superbitrf.c
+9 -9
View File
@@ -38,33 +38,33 @@
#ifndef SUPERBITRF_SPI_DEV
#define SUPERBITRF_SPI_DEV spi1
#endif
PRINT_CONFIG_VAR(SUPERBITRF_SPI_DEV);
PRINT_CONFIG_VAR(SUPERBITRF_SPI_DEV)
/* Default SuperbitRF RST PORT and PIN */
#ifndef SUPERBITRF_RST_PORT
#define SUPERBITRF_RST_PORT GPIOC
#endif
PRINT_CONFIG_VAR(SUPERBITRF_RST_PORT);
PRINT_CONFIG_VAR(SUPERBITRF_RST_PORT)
#ifndef SUPERBITRF_RST_PIN
#define SUPERBITRF_RST_PIN GPIO12
#endif
PRINT_CONFIG_VAR(SUPERBITRF_RST_PIN);
PRINT_CONFIG_VAR(SUPERBITRF_RST_PIN)
/* Default SuperbitRF DRDY(IRQ) PORT and PIN */
#ifndef SUPERBITRF_DRDY_PORT
#define SUPERBITRF_DRDY_PORT GPIOB
#endif
PRINT_CONFIG_VAR(SUPERBITRF_DRDY_PORT);
PRINT_CONFIG_VAR(SUPERBITRF_DRDY_PORT)
#ifndef SUPERBITRF_DRDY_PIN
#define SUPERBITRF_DRDY_PIN GPIO1
#endif
PRINT_CONFIG_VAR(SUPERBITRF_DRDY_PIN);
PRINT_CONFIG_VAR(SUPERBITRF_DRDY_PIN)
/* Default forcing in DSM2 mode is false */
#ifndef SUPERBITRF_FORCE_DSM2
#define SUPERBITRF_FORCE_DSM2 TRUE
#endif
PRINT_CONFIG_VAR(SUPERBITRF_FORCE_DSM2);
PRINT_CONFIG_VAR(SUPERBITRF_FORCE_DSM2)
/* The superbitRF structure */
struct SuperbitRF superbitrf;
@@ -442,12 +442,12 @@ void superbitrf_event(void)
#ifdef RADIO_TRANSMITTER_ID
// otherwise load airframe file value
else {
PRINT_CONFIG_VAR(RADIO_TRANSMITTER_ID);
PRINT_CONFIG_VAR(RADIO_TRANSMITTER_ID)
superbitrf_set_mfg_id(RADIO_TRANSMITTER_ID);
}
#endif
#ifdef RADIO_TRANSMITTER_CHAN
PRINT_CONFIG_VAR(RADIO_TRANSMITTER_CHAN);
PRINT_CONFIG_VAR(RADIO_TRANSMITTER_CHAN)
if (superbitrf.num_channels == 0) {
superbitrf.num_channels = RADIO_TRANSMITTER_CHAN;
}
@@ -457,7 +457,7 @@ void superbitrf_event(void)
}
#ifdef RADIO_TRANSMITTER_PROTOCOL
else {
PRINT_CONFIG_VAR(RADIO_TRANSMITTER_PROTOCOL);
PRINT_CONFIG_VAR(RADIO_TRANSMITTER_PROTOCOL)
superbitrf_set_protocol(RADIO_TRANSMITTER_PROTOCOL);
}
#endif